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Merge pull request #1835 from martinbudden/bf_config_pid 

Separated out pidConfig_t items
This commit is contained in:
borisbstyle 2016-12-16 12:59:01 +01:00 committed by GitHub
parent 60053e9a51 d72b4e96c9
commit 61cddacd5c
13 changed files with 33 additions and 31 deletions
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2
src/main/blackbox/blackbox.c
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@ -1201,7 +1201,7 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("looptime:%d", gyro.targetLooptime);
BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom:%d", gyroConfig()->gyro_sync_denom);
BLACKBOX_PRINT_HEADER_LINE("pid_process_denom:%d", masterConfig.pid_process_denom);
BLACKBOX_PRINT_HEADER_LINE("pid_process_denom:%d", pidConfig()->pid_process_denom);
BLACKBOX_PRINT_HEADER_LINE("rcRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8);
BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawRate8);

4
src/main/config/config_master.h
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@ -98,6 +98,7 @@
#define sdcardConfig(x) (&masterConfig.sdcardConfig)
#define blackboxConfig(x) (&masterConfig.blackboxConfig)
#define flashConfig(x) (&masterConfig.flashConfig)
#define pidConfig(x) (&masterConfig.pidConfig)
// System-wide
@ -128,9 +129,8 @@ typedef struct master_s {
imuConfig_t imuConfig;
rollAndPitchTrims_t accelerometerTrims; // accelerometer trim
uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees).
uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate
pidConfig_t pidConfig;
uint8_t debug_mode; // Processing denominator for PID controller vs gyro sampling rate

10
src/main/fc/config.c
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@ -614,14 +614,15 @@ void createDefaultConfig(master_t *config)
config->gyroConfig.gyro_lpf = GYRO_LPF_256HZ; // 256HZ default
#ifdef STM32F10X
config->gyroConfig.gyro_sync_denom = 8;
config->pid_process_denom = 1;
config->pidConfig.pid_process_denom = 1;
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
config->gyroConfig.gyro_sync_denom = 1;
config->pid_process_denom = 4;
config->pidConfig.pid_process_denom = 4;
#else
config->gyroConfig.gyro_sync_denom = 4;
config->pid_process_denom = 2;
config->pidConfig.pid_process_denom = 2;
#endif
config->pidConfig.max_angle_inclination = 700; // 70 degrees
config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
config->gyroConfig.gyro_soft_lpf_hz = 90;
config->gyroConfig.gyro_soft_notch_hz_1 = 400;
@ -641,7 +642,6 @@ void createDefaultConfig(master_t *config)
config->boardAlignment.pitchDegrees = 0;
config->boardAlignment.yawDegrees = 0;
config->accelerometerConfig.acc_hardware = ACC_DEFAULT; // default/autodetect
config->max_angle_inclination = 700; // 70 degrees
config->rcControlsConfig.yaw_control_direction = 1;
config->gyroConfig.gyroMovementCalibrationThreshold = 32;
@ -1051,7 +1051,7 @@ void validateAndFixGyroConfig(void)
}
if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
gyroConfig()->gyro_sync_denom = 1;
}
}

4
src/main/fc/fc_msp.c
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@ -1093,7 +1093,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 1);
} else {
sbufWriteU8(dst, gyroConfig()->gyro_sync_denom);
sbufWriteU8(dst, masterConfig.pid_process_denom);
sbufWriteU8(dst, pidConfig()->pid_process_denom);
}
sbufWriteU8(dst, motorConfig()->useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
@ -1442,7 +1442,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_ADVANCED_CONFIG:
gyroConfig()->gyro_sync_denom = sbufReadU8(src);
masterConfig.pid_process_denom = sbufReadU8(src);
pidConfig()->pid_process_denom = sbufReadU8(src);
motorConfig()->useUnsyncedPwm = sbufReadU8(src);
#ifdef USE_DSHOT
motorConfig()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_MAX - 1);

4
src/main/fc/mw.c
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@ -679,7 +679,7 @@ void subTaskPidController(void)
// PID - note this is function pointer set by setPIDController()
pidController(
&currentProfile->pidProfile,
masterConfig.max_angle_inclination,
pidConfig()->max_angle_inclination,
&masterConfig.accelerometerTrims,
rxConfig()->midrc
);
@ -792,7 +792,7 @@ void subTaskMotorUpdate(void)
uint8_t setPidUpdateCountDown(void)
{
if (gyroConfig()->gyro_soft_lpf_hz) {
return masterConfig.pid_process_denom - 1;
return pidConfig()->pid_process_denom - 1;
} else {
return 1;
}

12
src/main/flight/pid.c
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@ -163,8 +163,7 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
// Based on 2DOF reference design (matlab)
void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
const rollAndPitchTrims_t *angleTrim, uint16_t midrc)
void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, uint16_t midrc)
{
static float previousRateError[2];
static float previousSetpoint[3];
@ -217,13 +216,12 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
// Yaw control is GYRO based, direct sticks control is applied to rate PID
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
// calculate error angle and limit the angle to the max inclination
float errorAngle = pidProfile->levelSensitivity * rcCommand[axis];
#ifdef GPS
const float errorAngle = (constrainf(pidProfile->levelSensitivity * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
#else
const float errorAngle = (constrainf(pidProfile->levelSensitivity * rcCommand[axis], -((int) max_angle_inclination),
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
errorAngle += GPS_angle[axis];
#endif
errorAngle = constrainf(errorAngle, -max_angle_inclination, max_angle_inclination);
errorAngle = (errorAngle - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f;
if (FLIGHT_MODE(ANGLE_MODE)) {
// ANGLE mode - control is angle based, so control loop is needed
setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;

8
src/main/flight/pid.h
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@ -90,9 +90,13 @@ typedef struct pidProfile_s {
#endif
} pidProfile_t;
typedef struct pidConfig_s {
uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate
uint16_t max_angle_inclination;
} pidConfig_t;
union rollAndPitchTrims_u;
void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
const union rollAndPitchTrims_u *angleTrim, uint16_t midrc);
void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, uint16_t midrc);
extern float axisPIDf[3];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];

10
src/main/io/serial_cli.c
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@ -818,7 +818,6 @@ const clivalue_t valueTable[] = {
{ "align_board_pitch", VAR_INT16 | MASTER_VALUE, &boardAlignment()->pitchDegrees, .config.minmax = { -180, 360 } },
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &boardAlignment()->yawDegrees, .config.minmax = { -180, 360 } },
{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &masterConfig.max_angle_inclination, .config.minmax = { 100, 900 } },
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyro_sync_denom, .config.minmax = { 1, 8 } },
{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_soft_lpf_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
@ -844,6 +843,7 @@ const clivalue_t valueTable[] = {
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1, 1 } },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
{ "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } },
{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &pidConfig()->max_angle_inclination, .config.minmax = { 100, 900 } },
#ifdef USE_SERVOS
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
@ -911,7 +911,7 @@ const clivalue_t valueTable[] = {
{ "accum_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
{ "yaw_accum_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &pidConfig()->pid_process_denom, .config.minmax = { 1, 8 } },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 } },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 } },
@ -3658,8 +3658,8 @@ static void cliTasks(char *cmdline)
int subTaskFrequency;
if (taskId == TASK_GYROPID) {
subTaskFrequency = (int)(1000000.0f / ((float)cycleTime));
taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
if (masterConfig.pid_process_denom > 1) {
taskFrequency = subTaskFrequency / pidConfig()->pid_process_denom;
if (pidConfig()->pid_process_denom > 1) {
cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
} else {
taskFrequency = subTaskFrequency;
@ -3678,7 +3678,7 @@ static void cliTasks(char *cmdline)
cliPrintf("%6d %7d %7d %4d.%1d%% %4d.%1d%% %9d\r\n",
taskFrequency, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime,
maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
if (taskId == TASK_GYROPID && masterConfig.pid_process_denom > 1) {
if (taskId == TASK_GYROPID && pidConfig()->pid_process_denom > 1) {
cliPrintf(" - (%13s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
}
}

2
src/main/main.c
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@ -415,7 +415,7 @@ void init(void)
LED1_OFF;
// gyro.targetLooptime set in sensorsAutodetect(), so we are ready to call pidSetTargetLooptime()
pidSetTargetLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
pidSetTargetLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * pidConfig()->pid_process_denom); // Initialize pid looptime
pidInitFilters(&currentProfile->pidProfile);
pidInitConfig(&currentProfile->pidProfile);

2
src/main/target/ALIENFLIGHTF3/config.c
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@ -82,7 +82,7 @@ void targetConfiguration(master_t *config)
if (hardwareMotorType == MOTOR_BRUSHED) {
config->motorConfig.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
config->pid_process_denom = 2;
config->pidConfig.pid_process_denom = 2;
}
config->profile[0].pidProfile.P8[ROLL] = 90;

2
src/main/target/ALIENFLIGHTF4/config.c
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@ -63,7 +63,7 @@ void targetConfiguration(master_t *config)
if (hardwareMotorType == MOTOR_BRUSHED) {
config->motorConfig.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
config->pid_process_denom = 1;
config->pidConfig.pid_process_denom = 1;
}
if (hardwareRevision == AFF4_REV_1) {

2
src/main/target/MOTOLAB/config.c
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@ -27,5 +27,5 @@
void targetConfiguration(master_t *config)
{
config->gyroConfig.gyro_sync_denom = 4;
config->pid_process_denom = 1;
config->pidConfig.pid_process_denom = 1;
}

2
src/main/target/MULTIFLITEPICO/config.c
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@ -72,7 +72,7 @@ void targetConfiguration(master_t *config)
config->motorConfig.motorPwmRate = 17000;
config->gyroConfig.gyro_sync_denom = 4;
config->pid_process_denom = 1;
config->pidConfig.pid_process_denom = 1;
config->profile[0].pidProfile.P8[ROLL] = 70;
config->profile[0].pidProfile.I8[ROLL] = 62;